Improvement: make use of cpu pipeline easier

tud-airlab / mppi-isaac

Model Predictive Path Integral Control using isaacgym for rollouts, gpu-accelerated

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Improvement: make use of cpu pipeline easier #47

Closed cpezzato closed 5 months ago

cpezzato commented 10 months ago

There is still some leftover hardcoded "cuda:0" here and there. We should make sure that we can run the CPU pipeline by just setting the mppi configuration parameter "device" to CPU.

eliatrevisan commented 5 months ago

The IsaacGymWrapper now takes the device (cuda:0) by default. All the _server files pass the device to the IsaacGymWrapper.